Circles, ellipses, and lines are essentially special cases of the arc functionality mentioned above: Circles are an arc with the same start and end point, lines are an arc with infinite radius, and an ellipse is an arc or circle with a different radius called on each axis.
Circles
A circle can be defined by using either of the two above methods for creating an arc, and having the start and the end point the same. Using the example above for radius and end point, we can make this a circle as follows:
P2.1=0, P2.2=0
R1.1=-353, R1.2=-353
A1.1=10. A1.2=10
S1.1=10, S1.2=10
B1
|2.1, |2.2
A1.1, S1.1, A1.2, S1.2
R1.1, R1.2, @2.2+, @2.1+
END
By simply changing P2.1 and P2.2 to 0, we have made the arc in to a circle.
A second option is also available which allows you to run multiple circles continuously if the @ command is used by calling @0.1 and @0.2 instead of @1.1,@1.2, etc. In this case, the value of P0 is used to define the number of circles to run and the end point is automatically assigned to the start point. Using the above example, we can run it as follows:
P0.1=5, P0.2=5
R1.1=-353, R1.2=-353
A1.1=10. A1.2=10
S1.1=10, S1.2=10
B1
|2.1, |2.2
A1.1, S1.1, A1.2, S1.2
R1.1, R1.2, @.2+, @.1+
END
This will run the same circle as above, but it will run the circle 5 times in a row.
Lines
A Line is defined as an arc where the radius is set to 0.
The above line can be created by the following:
P2.1=0, P2.2=-500
R1.1=0, R1.2=0
A1.1=10. A1.2=10
S1.1=10, S1.2=10
B1
|2.1, |2.2
A1.1, S1.1, A1.2, S1.2
R1.1, R1.2, @2.2+, @2.1+
END
You will notice that this is essentially the same motion as the example for an arc, with only the radius being changed to 0.
Ellipses
An ellipse or elliptical arc can be created in the same manner as a circle or regular arc, but with the radii of the two axes different. Take, for instance, the following elliptical arc:
R1.1=353, R1.2=706
A1.1=10. A1.2=10
S1.1=10, S1.2=10
B1
|2.1, |2.2
A1.1, S1.1, A1.2, S1.2
R1.1, R1.2, @2.2+, @2.1+
END
The above program is identical to the regular large clockwise arc, except the radius for motor 2 has been doubled. This gives us the exaggerated movement to create an elliptical arc.
Overview
Content Tools